Method for vehicular control

ABSTRACT

A method for vehicular control includes providing a forward viewing camera, a yaw rate sensor, a longitudinal accelerometer, a speed sensor and a control system at the vehicle. While the vehicle is moving, an angular rotational velocity of the vehicle about a local vertical axis is determined, a yaw rate offset is determined, and a longitudinal acceleration is determined. A corrected yaw rate is determined responsive to the determined yaw rate offset of the yaw rate sensor and the determined longitudinal acceleration of the vehicle. The control system determines a projected driving path of the vehicle based at least in part on the determined corrected yaw rate. A hazard condition ahead of the vehicle in the projected driving path is determined at least in part responsive to detecting an object and to the projected driving path. The system automatically applies the brakes of the vehicle responsive to the determined hazard condition.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/657,332, filed Jul. 24, 2017, now U.S. Pat. No. 9,916,699,which is a continuation of U.S. patent application Ser. No. 15/161,709,filed May 23, 2016, now U.S. Pat. No. 9,715,769, which is a continuationof U.S. patent application Ser. No. 14/499,784, filed Sep. 29, 2014, nowU.S. Pat. No. 9,346,468, which is a continuation of U.S. patentapplication Ser. No. 14/246,495, filed Apr. 7, 2014, now U.S. Pat. No.8,849,495, which is a continuation of U.S. patent application Ser. No.13/779,881, filed Feb. 28, 2013, now U.S. Pat. No. 8,694,224, whichclaims the filing benefit of U.S. provisional application, Ser. No.61/605,516, filed Mar. 1, 2012, which is hereby incorporated herein byreference in its entirety.

FIELD OF THE INVENTION

This disclosure relates to vehicles, and more particularly to improvingthe accuracy of the determination of yaw rate in vehicles.

BACKGROUND OF THE INVENTION

Sensing yaw rate is important to land-based vehicles, and specifically,to road-going vehicles. Vehicle systems, such as collision avoidancesystems, collision mitigation systems and stability control systems, mayrequire accurate values of yaw rate to correctly determine the projectedpath of vehicle travel. Yaw rate sensors are susceptible to error, andif the measured yaw rate has significant error, then these kinds ofvehicle systems may perform poorly or even fail. For example,significant error in the measured yaw rate could trigger a collisionmitigation system to mistakenly determine that the vehicle is going tocollide with another vehicle and could invoke emergency braking of thevehicle. Such braking could be dangerous if other vehicles are closebehind and emergency braking is not warranted. Perhaps even worse, thesystem may mistakenly determine that the vehicle is not about to be in acollision and the system does not take action to prevent an otherwiseavoidable collision.

SUMMARY OF THE INVENTION

A yaw rate offset is used to correct measured yaw rate error. In someembodiments, the yaw rate offset may be updated when the vehicle isstationary. The vehicle may be determined to be stationary byreferencing at least two sensors. The first sensor provides anindication that the vehicle speed is zero. In embodiments, wherein thefirst sensor is a speed sensor, it can be insensitive to movement at lowspeeds, such as when pulling out of a parking space. Thus, theacceleration or derivative of acceleration (commonly referred to as“jerk”) obtained from the second sensor, which is sensitive to slightmovements, is also used to more confidently determine that the vehicleis stationary. In some embodiments, the yaw rate offset may be updatedwhen the vehicle is moving straight. A camera that captures images of orimage data representative of the road the vehicle is driving on may beused to determine that the vehicle is moving straight. Lane delimitersmay be detected in the camera images with the goal of determiningwhether the vehicle is moving parallel to the lane delimiters. In apreferred embodiment, the yaw rate offset is updated both at times whenthe vehicle is stationary and at times when the vehicle is movingstraight. In some embodiments, the yaw rate offset may be updated bycombining a new yaw rate offset with a previous yaw rate offsetaccording to a ratio. The ratio may be based on a level of confidencethat the vehicle is indeed in an operating condition suitable forupdating the yaw rate offset.

In a particular embodiment, the present invention is directed to amethod for determining a yaw rate for a road-based vehicle having a yawrate sensor, the method comprising:

(a) capturing images or image data representative of the environmentoutside the vehicle;

(b) determining if the vehicle is moving and has a zero yaw rate atleast based on the images, such as based at least in part on imageprocessing of image data captured by a camera;

(c) obtaining a first measured yaw rate from the yaw rate sensor whenthe vehicle is determined in step (b) to be moving and to have a zeroyaw rate;

(d) determining a yaw rate offset based at least in part on the measuredyaw rate obtained in step (c);

(e) obtaining a second measured yaw rate from the yaw rate sensor; and

(f) determining a corrected yaw rate for the vehicle based on the secondmeasured yaw rate and the yaw rate offset.

In another embodiment, the present invention is directed to a system fordetermining a corrected yaw rate for a yaw rate sensor on a land-basedvehicle. The system includes a camera configured to be mounted to thevehicle, and a control system connected to the yaw rate sensor and thecamera, the control system is operable to carry out the method describedabove.

In another embodiment, the present invention is directed to a method fordetermining a yaw rate for a road-based vehicle having a yaw ratesensor, the method comprising:

(a) obtaining an acceleration from an accelerometer positioned to sensea longitudinal acceleration of the vehicle;

(b) determining a rate of change of the acceleration;

(c) determining the vehicle speed;

(d) carrying out a determination of a yaw rate offset based at least inpart on a first measured yaw rate from the yaw rate sensor, at least inpart depending on whether the rate of change of the accelerationdetermined in step (b) is approximately zero, and at least in partdepending on if the vehicle speed is zero;

(e) obtaining a second measured yaw rate from the yaw rate sensor; and

(f) determining a corrected yaw rate for the vehicle based on the secondmeasured yaw rate and the yaw rate offset.

In another embodiment, the present invention is directed to a system fordetermining a corrected yaw rate for a yaw rate sensor on a land-basedvehicle. The system includes an accelerometer configured to or operableto sense a longitudinal acceleration of the vehicle, a speed sensor anda control system connected to all three sensors. The control system isconfigured to or operable to carry out the method described above.

In another embodiment, the present invention is directed to a method fordetermining a yaw rate for a road-based vehicle having a yaw rate sensorand at least one other sensor, the method comprising:

(a) determining whether the vehicle has a yaw rate of zero;

(b) obtaining a first measured yaw rate from the yaw rate sensordepending on the determination made in step (a);

(c) determining a yaw rate offset that is a first selected proportion ofthe first measured yaw rate obtained in step (b) and a second selectedproportion of a previous yaw rate offset, wherein the first selectedproportion and the second selected proportion are selected based on aset of criteria based on data determined from the at least one othersensor;

(d) obtaining a second measured yaw rate from the yaw rate sensor; and

(e) determining a corrected yaw rate for the vehicle based on the secondmeasured yaw rate and the yaw rate offset.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings illustrate, by way of example only, embodiments of thepresent disclosure.

FIG. 1 is a perspective view of a land-based vehicle in accordance withan embodiment of the present invention;

FIGS. 2a-c are diagrams showing projected paths of the vehicle;

FIG. 3 is a diagram illustrating an example of yaw rate error;

FIG. 4 is a functional block diagram of a control system, camera, andsensors that are part of the vehicle shown in FIG. 1;

FIG. 5 is a flowchart of a method of determining a corrected yaw rate;and

FIG. 6 is an example image from a camera at the vehicle shown in FIG. 1.

DETAILED DESCRIPTION OF THE INVENTION

Referring now to the drawings and the illustrative embodiments depictedtherein, FIG. 1 illustrates a land-based vehicle 10 equipped with thesystem of the present invention. In this example, the vehicle 10 is apassenger car, but in other examples, the vehicle may be a truck, bus,van, motorcycle, or any other kind of vehicle. In the illustratedembodiment, the equipped vehicle 10 includes a body, a passenger area,wheels 12 (including front wheels 12 a and rear wheels 12 b), aninternal combustion engine and/or an electric motor to drive the vehicle10, a transmission 14 to convey power from the engine or motor to thewheels 12, a steering wheel 16 to turn the front wheels 126 a, as wellas other components for powering and controlling the vehicle 10.Clearly, the equipped vehicle may have other systems or components, suchas, for example, steering of the rear wheels 12 b or the like, withoutaffecting the scope of the present invention.

As shown in FIG. 1, the vehicle 10 further includes a control system 18,a camera 20, a yaw rate sensor 22, a longitudinal accelerometer 24, atransmission sensor 26, a steering angle sensor 28, and a speed sensor30. The camera 20, yaw rate sensor 22, longitudinal accelerometer 24,transmission sensor 26, steering angle sensor 28, and speed sensor 30are each connected to the control system 18 to provide sensedinformation to the control system 18. Such connections may be by way ofconductive wires or wireless signals. A bus, such as a Controller-AreaNetwork (CAN) bus or a Local Interconnect Network (LIN) bus or the like,may be used for communication between the sensors and the control system18.

The control system 18 controls aspects of the vehicle's operations. Thecontrol system 18 may comprise a single device or it may comprise aplurality of devices that communicate with one another. The controlsystem 18 may comprise a separate device that is dedicated to carryingout the functions described below, or alternatively it may be partly orwholly contained within a unit that carries out other functions, such asthe engine control unit (not shown) or vehicle control unit (not shown).The control system 18 will be discussed in further detail below withrespect to FIG. 4.

The camera 20 is positioned to capture image data or imagesrepresentative of the scene exterior of the vehicle 10 and encompassedby the field of view of the camera. In this example, the camera 20 ispositioned in a forward-facing manner at the windshield of the vehicle10. The camera 20 may be included as part of a rearview mirror assembly.In other examples, the camera 20 may be positioned elsewhere on thevehicle 10, such as at the front or rear bumpers. The camera 20 isoperable to capture images of the road on which the vehicle 10 istravelling. The camera 20 may also be operable to capture images ofother vehicles, road surface characteristics (such as, for example, lanemarkings or lane delimiters or the like), hazards on or near the roadand other features of interest. The camera 20 may be provided with acamera control system (not shown) that processes images or image datacaptured by the camera. The camera 20 or the camera control system isconnected to the control system 18 to output images and/or imageinformation to the control system 18.

One or more of the camera control system and the control system 18 iscapable of processing images captured by the camera 20 to detect lanemarkers or delimiters 32 (FIGS. 2a-c ), such as painted lines or Botts'dots. Any suitable algorithm may be used to detect lane delimiters. Forexample, portions of the images may be scanned and processed forelements in a selected range of colors that are representative of thecolors of typical roadway lane delimiters. Ambient lighting conditionsmay be taken into account. The color ranges being searched for may beadjusted depending on the time of day. In embodiments wherein the cameracontrol system performs lane detection, the camera control system mayoutput information indicative of characteristics of the lane delimiters,such as the number of detected lane delimiters, their positions andangles, a curvature of one or more lane delimiters, and/or a quality ofa lane delimiter and/or the like, to the control system 18.Alternatively, the camera 20 may provide images to the control system18, which performs lane detection on the images. Detection andassessment of lane delimiters will be discussed in further detail below.

The yaw rate sensor 22 is operable to sense the left and right yaw rateof the vehicle 10 (in other words, to sense the positive and negativeangular rotational velocity of the vehicle about a local vertical axis Aof the vehicle). Output of the yaw rate sensor 22 to the control system18 may comprise a voltage within a range of voltages, such as about 0 to5 volts, with about 2.5 volts being indicative of zero yaw rate, or adata message sent over a communications bus or network bus of thevehicle, such as a CAN bus or the like. The yaw rate sensor 22 mayinclude any type of device, such as piezoelectric device, amicromechanical device, a microelectromechanical device, or similar. Thelongitudinal accelerometer 24 is operable to sense the longitudinal(forward or reverse) acceleration of the vehicle 10 and provide a signalindicative of a magnitude of such acceleration to the control system 18.The longitudinal accelerometer 24 may include any type of device, suchas piezoelectric device, a micromechanical device, amicroelectromechanical device, or similar. The longitudinalaccelerometer 24 may be part of a multi-axis accelerometer.

The yaw rate sensor 22 and the longitudinal accelerometer 24 may beprovided together in a sensor package that outputs aggregated data tothe control system 18. Alternatively, the yaw rate sensor 22 and thelongitudinal accelerometer 24 may be provided separately.

The transmission sensor 26 senses whether the vehicle transmission 14 isin park, in the case of an automatic transmission, or whether thetransmission is disengaged, in the case of a manual transmission. Thebrake sensor 31 (FIG. 1) senses whether any brake system or systems ofthe vehicle are engaged. For greater clarity, ‘a brake system’ may be amain brake system 27 or a parking brake system 29. The transmissionsensor 26 (alone in some cases such as in the case of an automatictransmission, and when combined with the brake sensor 31 in some casessuch as in the case of a manual transmission) can thus provide to thecontrol system 18 information indicative of whether the vehicle 10 isstationary or moving. The transmission sensor 26 may sense other gearsas well, such as drive, reverse, first gear, and second gear, amongothers.

The steering angle sensor 28 communicates to the control system 18information relating to the steering angle of the vehicle 10. In theembodiment shown, the steering angle sensor 28 senses a rotationalposition of the steering column (not shown), however the steering anglesensor 28 may be positioned anywhere suitable for sensing any suitablevehicle component related to the vehicle steering. The steering anglesensor 28 can provide to the control system 18 information indicative ofwhether the vehicle 10 is not turning, that is, whether the wheels 12are positioned to move the vehicle 10 straight.

The speed sensor 30 is operable to sense a speed of the vehicle 10. Thespeed sensor 30 may be positioned at all of the wheels 12 of the vehicle10. The speed sensor 30 provides to the control system 18 an indicationof the vehicle's speed, and in some embodiments the speed sensor 30 mayfurther provide an indication of the vehicle's direction of travel. Forexample, the speed sensors 30 may be used to determine, whether thevehicle is driving forward or in reverse. In another example, if thereis a difference in the speeds recorded at left and right speed sensors30 it is an indication that the vehicle is travelling in an arc.

Referring to FIGS. 2a -c, the yaw rate sensor 22 may be used by thecontrol system 18 to determine the projected path of the vehicle 10. Yawrate may be expressed in any suitable units such as degrees per secondor radians per second. Once the projected path of the vehicle is known(such as based in part on having an accurate determination of the yawrate), the control system 18 can determine what other vehicles orobstacles on the road are in the projected path of the vehicle.

The control system 18 may operate on yaw rates stored in degrees persecond, radians per second or any other units. However, the controlsystem 18 may alternatively directly operate on yaw rates stored inother units, such as volts, binary values, or pulses, to name a few.

An example of the operation of the vehicle 10 using the yaw rate sensor22 is shown in FIG. 2a . As shown, the vehicle 10 follows a secondvehicle 34 in the same lane, as defined by lane delimiters 32. The yawrate sensor 22 ideally outputs to the control system 18 a signalindicative of a yaw rate of about 0 degrees per second, and the controlsystem 18 accordingly determines that the projected path 38 of thevehicle 10 is straight. Using an obstacle detection system that may, forexample, include the camera 20 and/or a radar system (not shown), thecontrol system 18 may detect the presence of the second vehicle 34.Using the yaw rate, the control system 18 can determine that the secondvehicle 34 is in the projected path of the vehicle 10. If the controlsystem 18 determines that there is a risk of collision between thevehicle 10 and the second vehicle 34 (such as a likelihood of collisionthat is at or above a threshold level of risk), the control system 18can take an appropriate action, such as warning the driver of vehicle 10via a visual and/or audible warning, and/or automatically applying thebrakes of the vehicle 10.

Another example of the operation of the control system 18 is shown inFIG. 2b , in which the vehicle 10 is directly behind a third vehicle 36in a left lane but has started a rightward lane change. Accordingly, theyaw rate sensor 22 ideally outputs to the control system 18 a signalindicative of a yaw rate of some value, such as about 0.5 degrees persecond, and the control system 18 accordingly determines that theprojected path, shown at 40, of the vehicle 10 is curved to the right.Consequently, the control system 18 then determines that the thirdvehicle 36 is not in the projected path 40 of the vehicle 10, but thatthe second vehicle 34 in the right lane is in the projected path of thevehicle 10, even though the second vehicle 34 is not directly in frontof the vehicle 10.

Yet another example is shown in FIG. 2c , in which the vehicle 10 istravelling in a right lane of a curved road, and thus, the third vehicle36, which is located ahead of the vehicle 10 in a left lane, may appearto be in the projected path of the vehicle 10. However, assuming theroad has a radius of curvature of about 600 m (1970 ft) and the speed ofthe vehicle 10 is about 113 km/hr (70 mph), the yaw rate sensor 22ideally outputs to the control system 18 a signal indicative of a yawrate of about 3.0 degrees per second. Accordingly, the control system 18determines that the projected path 42 of the vehicle 10 is curved to theright. Consequently, the control system 18 then determines that thethird vehicle 36 is not in the projected path 42 of the vehicle 10, butthat the second vehicle 34 in the right lane is in the projected path 42of the vehicle 10.

Thus, it can be seen that yaw rate is a factor in predicting collisions.The vehicle 10 may use the yaw rate sensor 22 in a collision mitigationor avoidance system, of which the control system 18 may be a component.The vehicle 10 may additionally or alternatively use the yaw rate sensor22 with an electronic stability control system, of which the controlsystem 18 may be a component.

However, it should be noted that the examples of FIGS. 2a-c referenceideal yaw rate values. In practical applications, yaw rate sensors aresusceptible to error. Error in the determined yaw rate can cause vehiclesystems to incorrectly determine the projected path of the vehicle 10.As an example, when a prior art vehicle is driving straight, the errorin the determined yaw rate can cause a control system in the prior artvehicle to determine that the projected path of the vehicle is curved.As another example, when a prior art vehicle is driving in an arc, thatsame error can cause a control system in the prior art vehicle todetermine that the vehicle is driving straight. A relatively largemagnitude error may be exhibited when the vehicle 10 is first turned onand can change with changing temperature after the vehicle 10 is startedand as the vehicle 10 heats up to normal operating temperature. Such anerror may be from about 0.5 degrees per second to more than about 7degrees per second. A generally more gradual and sometimes smaller kindof error is known as drift error, which may also be attributable totemperature changes, and may also occur as the vehicle 10 is operated.Total yaw rate error may be greater than about 7 degrees per second.

Besides temperature, errors can also be caused by electromagneticinterference (EMI) and variation in sensor quality. Although atemperature sensor located at a yaw rate sensor could be used tocompensate for errors due to temperature, this can greatly increase thecost of the sensor, since such sensors are typicallyinstrumentation-grade and impractical to use for high productionvolumes. Known error compensation and filtering techniques may delayoutput of yaw rate to other systems, such as a stability control system,that may require low delays in yaw rate data. In addition, sincemultiple different systems of the vehicle 10 may require yaw ratesaccording to different criteria (such as, for example, low delay,averaged, filtered), it may be advantageous to allow those systems toprocess yaw rates according to their specific criteria by providing toall such systems common yaw rates that have been filtered as little andas quickly as possible.

FIG. 3 shows an example of the effect of yaw rate error. In thisexample, the vehicle 10 drives along a straight path in the right lane(shown at 90) from position A to position B, and then steers into theleft lane (shown at 92) to avoid the second vehicle 34. In this example,the yaw rate sensor 22 of the vehicle 10 has an error of about +0.5degrees per second, with positive yaw rate indicating a projected paththat is rightward and a negative yaw rate indicating a projected paththat is leftward. As noted above, the vehicle 10 travels straight in aright lane of a road from a position A to a position B, at which pointit approaches a slower-moving or stationary second vehicle 34. When thevehicle 10 is at position A and is driving straight, if the controlsystem 18 does not compensate for the error in the yaw rate sensor 22,it would determine that the yaw rate for the vehicle 10 is 0.5 degreesper second, which falsely indicates that the vehicle is turning to theright, as shown by projected path 52, as opposed to correctly indicatingthat the vehicle 10 is traveling along a straight path 54.

As a result, a collision mitigation system on board the vehicle 10 wouldnot determine that the second vehicle 34 is in the projected path of thevehicle 10. As a result, it would not appropriately apply emergencybraking or warn the driver of vehicle 10 in the event of an impendingcollision between the two vehicles 10 and 34. When the vehicle 10reaches point B and steers into the left lane 92 (such as, for example,with an actual yaw rate of about −0.5 degrees/second) to avoid acollision with the second vehicle 34, the sensor error would cause thecontrol system 18 to determine the vehicle's yaw rate to be about 0degrees per second, which falsely indicates that the vehicle 10 istravelling straight, as shown by projected path 56, as opposed tocorrectly indicating that the vehicle 10 is turning left with a yaw rateof about −0.5 degrees per second, as indicated at 58.

Due to this error, a collision avoidance or mitigation system of thevehicle 10 may incorrectly apply emergency braking to prevent theapparent imminent collision with the second vehicle 34, which can bedangerous. Unfortunately, even if the control system 18 attempts tocorrect the error in the yaw rate signal from the yaw rate sensor 22based on a fixed formula or a fixed lookup table (so as to compensatefor error caused by ambient temperature), it is still not sufficient,since the amount of error in the yaw rate signal can drift for a varietyof reasons. Accordingly, a control system 18 can still have significanterror in the determined yaw rate for the vehicle 10 when employing suchtechniques to correct for error.

Techniques for correcting output of the yaw rate sensor 22 for error inaccordance with an embodiment of the present invention will now bediscussed.

FIG. 4 illustrates a functional block diagram of the control system 18,the camera 20, and the sensors 22-31. The control system 18 includes aprocessor 62, a memory 64 connected to the processor 62, and aninput/output interface 66 connected to the processor 62. The sensors22-31 are connected to the processor 62 via the input/output interface66 to provide sensed information to the processor 62. The camera 20 mayalso be connected to the processor 62 in this way, or a camera controlsystem of the camera 20 may be connected to the processor 62 via theinput/output interface 66.

The input/output interface 66 can include a bus, such as a CAN bus. Theinput/output interface 66 can include one or more analog-to-digitalconverters to convert analog signals from any of the sensors 22-31 (inembodiments wherein any of them are analog devices) into digital signalsusable by the processor 62.

The memory 64 stores a vehicle stationary detection routine 72, avehicle straight driving detection routine 74, and a yaw rate offsetfilter routine 76. Such routines may be in the form of any programmaticentity such as a program, a routine, a subroutine, a function, a script,executable instructions, intermediate instructions that are executed togenerate executable instructions, an object, and a class, to name a few.Any of the routines 72-76 can include lookup tables for obtaining lookupvalues using known values. The routines 72-76 may be provided asseparate routines, as illustrated. Alternatively, two or more of theroutines 72-76 may be provided together in a larger routine. Inaddition, any of the routines 72-76 may be separated into two or moresmaller routines.

The memory 64 further stores a yaw rate offset 78 as a variable valuethat may be updated when appropriate. To determine a new yaw rate offset(such as to update the yaw rate offset 78), the processor 62 referencesthe camera 20 and sensors 22-30, executes the routines 72-76 to act onthe information obtained from the camera 20 and sensors 22-30, andfurther references the stored yaw rate offset 78.

As the processor 62 obtains one or more yaw rates from the yaw ratesensor 22, the one or more yaw rates may be stored in a buffer 82 in thememory 64. The processor 62 can reference the buffer 82 for a yaw raterequired by the routines 72-76, and can ignore spurious yaw rates in thebuffer 82 or apply an input filter to one or more of these yaw rates toreduce noise and obtain a filtered input yaw rate.

The processor 62 can further obtain a corrected yaw rate 80 bysubtracting the yaw rate offset 78 from a measured yaw rate obtainedfrom the yaw rate sensor 22. The corrected yaw rate 80 may be output tothe memory 64 for storage for later use by the processor 62 inperforming routines that require a corrected yaw rate, such as routinesfor collision mitigation or avoidance or stability control. Theprocessor 62 may additionally or alternatively output the corrected yawrate 80 to the input/output interface 66 for use by other systems of thevehicle 10.

The vehicle stationary detection routine 72 and the vehicle straightdriving detection routine 74 are used determine when the vehicle 10 isin a condition where the actual yaw rate of the vehicle 10 isapproximately zero, and therefore the signal sent from an ideal yaw ratesensor would indicate a yaw rate of zero. When the vehicle is in such acondition, it is conducive to determining the amount of error thatexists in the real yaw rate sensor 22, and therefore is conducive toupdating the yaw rate offset 78. In a simple embodiment, when thevehicle 10 is determined to be either stationary or moving in a straightpath, the yaw rate offset 78 may simply be determined to be the measuredyaw rate from the yaw rate sensor 22. It will be understood that, insome circumstances, it is at least theoretically possible for even themost sophisticated control system 18 to determine that the vehicle isstationary or is moving in a straight path, when the vehicle 10 is, infact, not. If the yaw rate offset 78 were simply replaced with themeasured yaw rate at that time, a potentially large error couldinadvertently be introduced into the yaw rate offset 78. To reduce thepotential for introducing a large error into the yaw rate offset 78, insome more complex embodiments, updating the yaw rate offset 78 entails:

(a) determining the vehicle 10 is either stationary or is moving in astraight path; and

(b) if the vehicle is determined to be either stationary or moving in astraight path, adding a percentage of the value of the measured yaw ratewith a percentage of the previously stored value yaw rate offset, toarrive at an updated value for the yaw rate offset 78.

Each of the routines 72-76 will now be discussed in detail. The vehiclestationary detection routine 72 references the longitudinalaccelerometer 24 to determine whether the vehicle 10 is stationary. Alongitudinal acceleration of the vehicle 10 may be obtained over aselected duration of time. A derivative or rate of change of thelongitudinal acceleration can then be determined. The first derivativeof acceleration is known as jerk. When the value of jerk is determinedto indicate that the vehicle 10 is stationary, the vehicle stationarydetection routine 72 can reference the yaw rate sensor 22 to obtain ameasured yaw rate that is used for the updating of the yaw rate offset78.

The value of jerk that would be indicative of a stationary vehicle wouldbe a value that is approximately zero. The selected duration of time maybe several seconds (such as, for example, about 0.5 seconds). However,it will be noted that when the vehicle 10 is under a constantacceleration, the value of jerk would also be approximately zero. Thus,the control system 18 does not rely on the value of jerk alone todetermine when the vehicle 10 is stationary. The control system 18 alsouses at least one other criterion to support a determination that thevehicle 10 is stationary. For example, another criterion may be that thevehicle speed (as measured by speed sensor 30) is measured to beapproximately zero. An example of another criterion (in embodimentswherein the vehicle 10 is equipped with an automatic transmission) iswhether the gear selector for the transmission is in ‘Park’, asdetermined by the transmission sensor 26. If the vehicle 10 is equippedwith a manual transmission, the criterion could instead be whether thegear selector for the transmission is in ‘Neutral’, as determined by thetransmission sensor 26 and whether the main brake system (such as thebrake pedal of the vehicle) has been depressed beyond a selected amountfor a selected period of time or whether the parking brake system hasbeen depressed or actuated.

As a condition for referencing the longitudinal accelerometer 24 todetermine the current value of jerk, the vehicle stationary detectionroutine 72 may first determine whether the vehicle speed obtained fromthe vehicle speed sensor 30 is approximately zero for a selectedduration (such as, for example, about 0.5 seconds), and/or whether thegear selector is in ‘Park’ (for an automatic transmission) or whetherthe gear selector is in neutral (for a manual transmission) and thebrake is sufficiently depressed for sufficiently long, thereby savingthe processor 62 from having to determine jerk when the vehicle 10 isknown by the control system 18 to not meet other criteria for beingstationary.

Determining whether the vehicle 10 is stationary by using the value ofjerk in addition to vehicle speed and/or the position of the gearselector is advantageous over a system that would determine whether thevehicle is stationary using only vehicle speed and/or gear selectorposition, without using the value of jerk. This is because there aresituations in which the measured vehicle speed from the speed sensor 30could be zero, even though the vehicle is moving. An example would bewhen the vehicle 10 is being carried on a ferry. It will be noted thatwhen the vehicle 10 is being carried on a ferry, the gear selector forthe transmission would also be in ‘Park’. Thus, when the vehicle is on aferry, a control system of the prior art could be fooled intodetermining that the vehicle is stationary even though it is not.However, the movements of the ferry during transport of the vehicle 10could be sensed by the longitudinal accelerometer 24 and would result ina value of jerk that is non-zero. Thus, by basing the determination ofwhether the vehicle 10 is stationary on the value of jerk in addition toat least one other criterion such as vehicle speed and/or gear selectorthe control system 18 is inhibited from determining that the vehicle 10is stationary in such a situation.

Using the value of jerk is advantageous over simply using the value oflongitudinal acceleration itself, because there are situations in whichthe vehicle 10 is stationary but where the longitudinal accelerationsensor 24 would signal to the control system 18 that there is anacceleration on the vehicle, thereby misleading the control system 18 todetermine that the vehicle 10 is not stationary. Such a situation wouldbe, for example, when the vehicle 10 is stationary on a downhill slopeor on an uphill slope. In such situations, the acceleration sensor 24would sense the force of gravity urging the vehicle to roll down theslope. Thus, the sensor 24 would send signals to the control system 18that are non-zero and which have a magnitude determined by the angle ofthe slope on which the vehicle 10 is positioned. As a result, thecontrol system 18 could determine that the vehicle is under accelerationeven though the vehicle may be stationary. However, the force of gravityis constant, and so value of jerk that would exist in such a situationwould be approximately zero. Thus, by determining whether the vehicle 10is stationary based on jerk instead of longitudinal acceleration,situations in which the vehicle 10 is stationary can be captured thatmight otherwise be missed.

As described above, examples of conditions that the vehicle stationarydetection routine 72 can evaluate in order to determine whether thevehicle 10 is stationary include:

1. A value of jerk being less than a threshold value, preferably for atleast a selected period of time,

2. A vehicle speed being less than a threshold speed, preferably for atleast a selected period of time, and

3. The transmission 14 being determined to be in ‘ark’ (for automatictransmission) or in ‘Neutral’ with the brake depressed, preferably forat least a selected period of time (for manual transmission). The threeaforementioned selected periods of time need not be the same as eachother.

The vehicle straight driving detection routine 74 references the camera20 (and one or more other sensors such as the steering angle sensor 28and the speed sensor 30) to determine whether the vehicle 10 is drivingstraight (and therefore has an actual yaw rate of about zero) based onan analysis of images captured by the camera 20. In an embodiment, todetermine whether the vehicle 10 is driving straight (such as driving ina straight path), the control system 18 detects any lane delimiters 32present in the images. An example image is shown at 300 in FIG. 6. Inthis image, two lane delimiters shown at 32 (shown individually at 32 aand 32 b) are detected (one on either side of the vehicle 10).Optionally, the control system 18 may be programmed to continue to thenext steps only with lane delimiters 32 that are detected for acontinuous selected period of time, such as about 0.5 seconds or more orless.

In order for the control system 18 to determine whether or not a lanedelimiter 32 has been detected, it may assess the ‘quality’ of the dataobtained from the camera images, such as, for example, whether thecontrol system 18 has received sufficient image information toaccurately determine the position and curvature of the lane delimiter32. When the quality of the data does not meet the threshold quality,then the control system 18 determines that the data does not relate to alane delimiter 32. Evaluation of lane delimiter quality may be performedby the control system 18, for example as part of the vehicle straightdriving detection routine 74, or by a camera control system orlane-keeping system.

After detecting any lane delimiters 32, the control system 18 may beprogrammed to determine whether the detected lane delimiters 32 aregenerally straight. Each lane delimiter 32 may be modeled using apolynomial equation, such as a third-order polynomial equation. Acurvature of the lane delimiter 32 may be obtained by taking aderivative of the polynomial equation. Coefficients of the terms of thederivative equation may be tested for linearity. A relatively smallcoefficient for a non-linear term (such as, for example, x² or x³), whencompared to a linear coefficient (such as, for example, x), can indicatea lane delimiter 32 of low curvature. Lane curvature may be determinedby the controller 18, for example as part of the vehicle straightdriving detection routine 74, or for example, by a camera controller orlane-keeping system.

For any lane delimiters 32 that are determined to be straight, thecontroller 18 may be programmed to determine the heading of the vehicle10 relative to each generally straight lane delimiter 32. Thus, if thereis only one lane delimiter 32 detected, and it is determined to begenerally straight, the controller 18 may be programmed to determine theheading of the vehicle 10 relative to that lane delimiter 32. If thereare two generally straight lane delimiters 32 detected the controller 18may be programmed to determine the heading of the vehicle 10 relative tothe first lane delimiter (such as, for example, lane delimiter 32 a inFIG. 6) and then to determine the heading of the vehicle relative to thesecond lane delimiter (such as, for example, lane delimiter 32 b in FIG.6).

The heading of the vehicle may be determined by the controller 18 by anysuitable method. For example, it may be determined using one or more ofthe steering angle sensor 28, the yaw rate sensor 22 and by analysis ofthe images from the camera 20. For example, the images from the camera20 may be analyzed by the controller 18 to determine if, over time, anydetected lane delimiters 32 are moving by more than a selected amountalong the x-axis in the images. Such movement would be indicative thatthe vehicle 10 is not precisely parallel to the lane delimiters 32. Theamount of such movement could be correlated to a relative angle betweenthe vehicle 10 heading and the direction of the lane delimiters 32.

When the control system 18 determines that the vehicle 10 issufficiently parallel to (such as, for example, within a selected numberof degrees of) one or more generally straight lane delimiters 32 for atleast a threshold duration of time (such as, for example, about 0.1seconds), the vehicle straight driving detection routine 74 may updatethe yaw rate offset 78. To update the yaw rate offset 78, the controlsystem 18 may obtain a measured yaw rate from the yaw rate sensor 22.This measured yaw rate may, for example, be used by the control system18 directly as the new yaw rate offset 78 and may simply replace theprevious yaw rate offset. Alternatively (and preferably), the new yawrate offset 78 may be some selected proportion or percentage of themeasured yaw rate added to some selected proportion or percentage of theprevious yaw rate offset, as described in more detail below.

In addition to using the images from the camera 20, data from othersensors may be used by the control system 18 to determine whether thevehicle 10 is driving in a straight path. For example, the controlsystem 18 may receive signals from the steering angle sensor 28 todetermine whether the steering angle of the vehicle 10 is less than aselected threshold steering angle (such as, for example, approximatelyzero). Also, the speed sensor 30 will be used to determine that thevehicle 10 is in fact, moving (such as, for example, moving above aselected threshold speed).

It is advantageous to be able to determine the error (which may bereferred to as the offset) of the yaw rate sensor 22 while driving (notjust when the vehicle is stationary), since drift error can increase theerror in yaw rate over time, and it is not always practical to waituntil the vehicle stops to determine the yaw rate offset 78, especiallyduring a long drive.

Using the camera 20 to detect lane delimiters 32 that are straight andto determine whether the vehicle heading is parallel with the lanedelimiters 32 has advantages over other approaches, such as by relyingsolely on steering angle. This is because it is possible in somesituations for the steering angle not to reflect the true heading of thevehicle 10. For example, if the road has a crown as many roads do, thevehicle may steer by some small amount towards the peak in order todrive straight. Similarly in a crosswind a driver may steer the vehicleinto the crosswind by some small amount in order to maintain a straightheading on the road. Therefore, relying on steering angle may masksituations of straight driving that could have been used to determineyaw rate offset 78.

Even though the aforementioned examples describe situations in which thesteering angle is not zero when the vehicle 10 heading is straight, thecontrol system 18 may still compare the measured steering angle (suchas, for example, from steering angle sensor 28) with a thresholdsteering angle as a condition for determining whether the vehicle 10 hassome chance to be travelling straight before going on to carry out thedetection and operations relating to the camera images. For example, thecontrol system 18 may determine that the vehicle 10 has at least somechance of following a straight path if the steering angle if the vehicleis less than, for example, about 10 degrees angularly to the left or tothe right, preferably for at least a selected period of time (such as,for example, about 5 seconds). Additionally the control system 18 candetermine whether or not the rate of change of the steering angleexceeds a threshold rate of change of the steering angle (such as, forexample, about 2 degrees per second), before permitting the controlsystem 18 to analyze the camera images 20 for lane delimiters 32.Alternatively, the analysis of images from the camera 20 may be carriedout simultaneously with the determinations made above relating tosteering angle and the rate of change of the steering angle.

Even in situations where there are no lane delimiters detected, thecontrol system 18 may still update the yaw rate offset 78 if, forexample, the steering angle is sufficiently low and if the vehicle ismoving.

The conditions that the vehicle straight driving detection routine 74can evaluate in order to determine whether the vehicle 10 is movingstraight are summarized as follows:

1. Detection of any straight lane delimiters 32 from images from thecamera 20 for at least a selected duration,

2. A steering angle from the steering angle sensor 28 being less than athreshold angle for at least a selected duration,

3. A rate of change of steering angle from the steering angle sensor 28being less than a threshold rate of change of angle for at least aselected duration, and

4. A vehicle speed from the speed sensor 30 being greater than athreshold speed for at least a selected duration.

When updating the yaw rate offset 78, it will be noted that thepotential for error in determining that the vehicle 10 should have anactual yaw rate of zero varies depending on the specifics of eachsituation. For example, there is relatively less potential for error ina determination that the vehicle 10 is stationary than there is in adetermination that the vehicle 10 is driving straight when only one lanedelimiter 32 is detected by the camera 20. Depending on the potentialfor error associated with a particular updating of the yaw rate, theproportions of the measured yaw rate and the previous yaw rate offsetthat are added together to form the new yaw rate offset 78 can beadjusted. More specifically, when there is a relatively high potentialfor error in the measured offset (such as, for example, when themeasured yaw rate is obtained when the vehicle is determined to bedriving straight but where the control system 18 could not identify anylane delimiters), the new yaw rate offset 78 may be generated from arelatively small proportion (such as, for example, about 1 percent) ofthe measured yaw rate added to a relatively large proportion (such as,for example, about 99 percent) of the previous yaw rate offset. Bycontrast, when there is relatively less potential for error (such as,for example, when the measured yaw rate was obtained when the vehicle 10is determined to be stationary), the new yaw rate offset 78 may bedetermined to be a relatively higher proportion (such as, for example,about 10 percent) of the measured yaw rate can be added to a relativelyreduced proportion (such as, for example, about 90 percent) of theprevious yaw rate offset.

Accordingly, the yaw rate offset filter routine 76 can apply thefollowing offset update formula:

W _(OFFSET) =K(0−W _(BUFFER))+(1−K)W _(OLD OFFSET)

where:

W_(OFFSET) is the new yaw rate offset 78 being determined;

K is the proportion of the measured yaw rate used to determine the newyaw rate offset 78;

(1−K) is the proportion of the previous yaw rate offset used todetermine the new yaw rate offset 78;

W_(BUFFER) is the measured yaw rate (e.g. obtained using one of theroutines 72, 74); and

W_(OLD OFFSET) is the previous yaw rate offset.

As can be seen, the proportion K defines a ratio by which the measuredyaw rate obtained by one of the routines 72, 74 is combined with thestored yaw rate offset 78, the ratio being K/(1−K). For small values ofK, the stored yaw rate offset 78 is thus less updated by the measuredyaw rate obtained by one of the routines 72, 74. The proportion K can beconsidered to be a numerical expression of the level of confidence inthe measured yaw rate obtained by one of the routines 72, 74 being anaccurate value for the yaw rate offset 78. Combining the yaw rateobtained by one of the routines 72, 74 with the stored yaw rate offset78 in such a way also serves as a time-based filter, so that error inthe yaw rate obtained by one of the routines 72, 74 is mitigated andeventually eliminated by subsequent iterations. The proportion K may beset to zero to allow the stored yaw rate offset 78 to not be updated, or1 to allow immediate and complete copy of the current yaw rate to theyaw rate offset 78. The yaw rate offset filter routine 76 may beunderstood to implement a low-pass filter, where the filter constant isthe proportion K.

In this exemplary embodiment, the proportion K ranges from 0.01 to 0.10,giving ratios of 1:99 and 1:9 for the measured yaw rate (W_(BUFFER))obtained by one of the routines 72, 74 to the previous yaw rate offset78 (W_(OLD OFFSET)). The proportion K may be about 0.10 when the vehiclestationary detection routine 72 obtains the yaw rate to reflect arelatively high confidence in the accuracy of W_(BUFFER) in such asituation. Continuing with this exemplary embodiment, when the vehiclestraight driving detection routine 74 obtains the yaw rate, theproportion K may be somewhere in the range of about 0.01 to 0.04depending on such factors as the number of straight lane delimiters thatare detected. It will be understood that these are merely examplevalues. Higher values for the proportion K mean that the yaw rate offset78 will more quickly change, while lower offset correction values meanthat the yaw rate offset 78 will change more slowly. The proportion Kwill be discussed in more detail below with respect to FIG. 5.

Once the yaw rate offset filter routine 76 determines the new yaw rateoffset 78, W_(OFFSET,) the new yaw rate offset is stored in the memory64 and becomes the stored yaw rate offset 78.

The routines 72, 74, 76 may be repeated to continually update the yawrate offset 78. Using the yaw rate offset 78, the control system 18 cancorrect for error in signals from the yaw rate sensor 22. In otherwords, using the yaw rate offset 78, the control system 18 can receive ameasured yaw rate from the yaw rate sensor 22 (which may be referred toas a second measured yaw rate to distinguish it from the measured yawrate taken in the routines 72, 74 used to update the offset 78) and canapply the known offset 78 to it to arrive at a corrected yaw rate 80.When the control system 18 needs to determine the yaw rate for thevehicle 10 (such as, for example, for use by the collision mitigationsystem or the stability control system) the processor 62 can obtain acorrected yaw rate 80 by combining a new measured yaw rate sensed at theyaw rate sensor 22 (the aforementioned second measured yaw rate), withthe yaw rate offset 78, as may be expressed by the following correctedyaw rate formula:

W _(CORRECTED) =W _(INPUT) +W _(OFFSET)

where:

W_(CORRECTED) is the corrected yaw rate 80 being determined;

W_(INPUT) is the yaw rate obtained from the yaw rate sensor 22, and thismay be a yaw rate stored in the buffer 82; and

W_(OFFSET) is the yaw rate offset 78.

The corrected yaw rate 80 may be stored in the memory 64 or output atthe input/output interface 66, as needed.

FIG. 5 illustrates a flowchart of a method 100 of correcting yaw rate.The method 100 may be embodied by the routines 72, 74, 76 discussedabove, and the description for these routines may be referenced tobetter understand the method 100.

At step 102, the method is initialized. The buffer 82 may be cleared andthen filled with raw yaw rate input from the yaw rate sensor 22.

At step 104, the input yaw rates from the sensor 22 may be filtered toreduce the effects of noise. Spurious values may be ignored. Anysuitable filter may be used. Step 104 may be performed after the buffer82 is filled or while the buffer 82 is being filled during step 102. Theresult of steps 102 and 104 is a filtered input yaw rate that will beused by the remainder of the method 100.

At step 106, it is determined whether the vehicle 10 is stationary for asufficient duration, as described above. If it is determined at step 106that the vehicle 10 is stationary, the value of the proportion K is setto be equal to K4 at step 108. K4 may, for example, be 0.1, whichreflects a relatively high degree of confidence that the vehicle 10 isin fact stationary (and therefore has a true yaw rate of about zero).

At step 110, the yaw rate offset 78 is updated as described above, usingthe formulas described above. At step 112, the corrected yaw rate 80 isdetermined using the formula provided above.

When it is determined at step 106 that the vehicle is not stationary,step 114 is carried out. At step 114, it is determined whether thevehicle 10 is moving straight. To that end, one or more of the followingconditions may be evaluated:

the steering angle meeting related criteria such as whether the steeringangle is about +/−10 degrees of a zero steering angle for a selectedperiod of time, and a vehicle speed meeting related criteria such aswhether the vehicle speed is greater than a minimum acceptable speed(such as, for example, about 10 kph, or for example, about 60 kph) for aselected (optionally different) period of time;

the differential speeds of the wheels 12 on the right side of thevehicle vs. the left side of the vehicle being below a selectedthreshold differential speed;

data from an onboard GPS system meeting selected criteria that indicatethat the vehicle is driving straight.

Step 114 is a coarse determination of whether the vehicle 10 is movingin a straight path. When it is determined that the vehicle 10 is notstationary at step 106 and is not moving in a straight path, it isdetermined that the yaw rate offset 78 is not to be updated at step 116and as a result the yaw rate offset 78 is not updated, and the method100 can proceed to step 112 to determine a corrected yaw rate 80 byreferencing the previously obtained yaw rate offset 78.

If, on the other hand, at step 114 it is determined that the vehicle 10is moving relatively straight, then the control system 18 analyzesimages from the camera 20 to determine how many lane straight delimiterscan be detected.

At steps 118 and 122, one or more images from the environment outsidethe vehicle 10 are captured by the camera 20 and the control system 18performs image analysis to detect and evaluate lane delimiters in theimages. This may be part of an ongoing lane-keeping process or may be aprocess that is only performed when yaw rate offset 78 is beingdetermined by the method 100.

If at step 118 no lane delimiters are found to be acceptable (such as ofsufficient quality and of sufficient straightness, optionally for asufficient period of time), then the proportion K is set to be equal tooffset correction value K1 at step 120 and the yaw rate offset 78 isupdated accordingly. If at steps 118 and 122 one lane delimiter (32 a or32 b) is found to be acceptable, but not two lane delimiters (32 a and32 b), then the proportion K is set to be equal to offset correctionvalue K2 at step 124 and the yaw rate offset 78 is updated accordingly.If at step 122 two lane delimiters are found to be acceptable, then theproportion K is set to be equal to offset correction value K3 at step126 and the yaw rate offset 78 is updated accordingly. As noted above,K1 may be less than K2, which may be less than K3, which may be lessthan K4. Exemplary values for K1, K2 and K3 may comprise about 0.02,0.03 and 0.04, respectively.

At step 118, if no acceptable lane delimiter is detected, or if one ormore lane delimiters are detected, but did not remain detected for asufficient period of time then step 120 is performed to select theoffset correction value K1 corresponding to a first level of confidencethat the vehicle 10 is moving straight based on the conditions met atstep 114. If one acceptable lane delimiter (such as either the left lanedelimiter 32 a or the right lane delimiter 32 b in FIG. 6) is detectedfor the first duration of time, then step 122 is performed to determinewhether two acceptable lane delimiters (32 a and 32 b) are detected fora second duration of time.

The first and second durations may be of different lengths or the samelength, and may be coincident times, partially overlapping times orseparate times. Steps 118 and 122 may be performed at the same time bythe same process, and are merely described as separate for clarity.

In relation to the above-described routines 72-76, the method 100 may beunderstood as follows. Steps 106 and 108 correspond to the vehiclestationary detection routine 72. Steps 114, 118, 120, 122, 124, and 126correspond to the vehicle straight driving detection routine 74. Step110 corresponds to the yaw rate offset filter routine 76.

When steps 102, 104, 106, 114, 116, and 112 are performed in thatsequence, the vehicle 10 is not being operated in a manner conducive toupdating the previously obtained yaw rate offset 78 and corrected yawrates 80 are being determined using the previously obtained yaw rateoffset.

The steps of the method 100 may be performed in orders different fromthat described. Any of the steps may be split into two or more smallersteps. Any two or more of the steps may be combined into a larger step.Steps may be omitted.

It will be understood that the use of variable values for the proportionK may be advantageous regardless of the specific details of the routinesthat are used to determine the new yaw rate offset 78. In other words itis contemplated to be advantageous to assign different values for theproportion K based on a set of different situations determined to beconducive for updating the value of the yaw rate offset 78, wherein thedifferent situations have different levels of confidence associatedtherewith.

The techniques described herein may be repeated while the vehicle 10 isbeing operated in order to continually determine whether conditions aresuitable for updating the yaw rate offset 78. Such repetition can occuraccording to a period, such as 10 ms, 50 ms, or 100 ms, and such periodmay be allowed to vary, such as by about +/−50 percent or thereabouts.

Thus, the present invention may comprise a system for determining acorrected yaw rate of a land-based vehicle, with the system comprising ayaw rate sensor, a camera and a processor. The camera is configured tobe mounted to the vehicle and operable to capture image datarepresentative of the environment exterior of the vehicle. The processoris operable to:

(a) process image data captured by the camera;

(b) determine if the vehicle is moving and has a zero yaw rate at leastbased on processing of captured image data;

(c) obtain a first measured yaw rate from the yaw rate sensor when thevehicle is determined in step (b) to be moving and to have a zero yawrate;

(d) determine a yaw rate offset based at least in part on the measuredyaw rate obtained in step (c);

(e) obtain a second measured yaw rate from the yaw rate sensor; and

(f) determine a corrected yaw rate for the vehicle based on the secondmeasured yaw rate and the yaw rate offset.

Optionally, the processor may be operable in step (b) to (g) determineat least from processing of captured image data that the vehicle isdriving straight. The processor may be operable in step (b) to:

(h) detect any lane delimiters present in the exterior scene representedby captured image data;

(i) determine whether any lane delimiters detected in step (h) arequalifying lane delimiters which meet selected criteria; and

(j) compare a heading of the vehicle with the direction of at least onequalifying lane delimiter.

Optionally, when there are two qualifying lane delimiters, the processormay be operable in step (j) to compare a heading of the vehicle with thedirection of the two qualifying lane delimiters. Optionally, theprocessor may be operable in step (i) to determine whether the amount ofcurvature in any lane delimiters detected in step (h) is below aselected threshold amount of curvature. Optionally, the processor may beoperable in step (i) to determine whether any lane delimiters detectedin step (h) have been detected for more than a selected duration.

Optionally, the yaw rate offset may be a first selected proportion ofthe first measured yaw rate obtained in step (c) and a second selectedproportion of a previous yaw rate offset, and wherein the first andsecond selected proportions are selected based at least in part on howmany lane delimiters meet the selected criteria.

Optionally, the processor may be operable in step (b) to determinewhether a steering angle of the vehicle is less than a selectedthreshold steering angle. Optionally, the processor may be operable instep (b) to determine whether the speed of the vehicle is greater than aselected threshold speed. Optionally, the processor may be operable instep (b) to determine whether the steering angle of the vehicle isapproximately zero.

Optionally, the yaw rate offset may be a first selected proportion ofthe first measured yaw rate obtained in step (c) and a second selectedproportion of a previous yaw rate offset.

According to another aspect of the present invention, a system fordetermining a corrected yaw rate for a yaw rate sensor on a land-basedvehicle comprises an accelerometer operable to sense a longitudinalacceleration of the vehicle and a processor connected to the yaw ratesensor and the accelerometer, with the processor operable to:

(a) obtain an acceleration from an accelerometer positioned to sense alongitudinal acceleration of the vehicle;

(b) determine a rate of change of the acceleration;

(c) carry out a determination of a yaw rate offset based at least inpart on a first measured yaw rate from the yaw rate sensor, at least inpart depending on whether the rate of change of the accelerationdetermined in step (b) is approximately zero;

(d) obtain a second measured yaw rate from the yaw rate sensor; and

(e) determine a corrected yaw rate for the vehicle based on the secondmeasured yaw rate and the yaw rate offset.

The processor may be operable to carry out step (c) depending at leastin part on whether the rate of change of the acceleration determined instep (b) is approximately zero for a selected duration. The processormay be operable to carry out step (c) depending in part on adetermination of whether the vehicle has a speed that is approximatelyzero.

Optionally, the yaw rate offset is a first selected proportion of themeasured yaw rate obtained in step (c) and a second selected proportionof a previous yaw rate offset.

According to another aspect of the present invention, a system fordetermining a corrected yaw rate for a yaw rate sensor on a land-basedvehicle comprises a memory and a processor connected to the yaw ratesensor and the memory, with the processor operable to:

(a) determine whether the vehicle has a yaw rate of zero;

(b) obtain a first measured yaw rate from the yaw rate sensor dependingon the determination made in step (a);

(c) determine a yaw rate offset that is a first selected proportion ofthe first measured yaw rate obtained in step (b) and a second selectedproportion of a previous yaw rate offset, wherein the first selectedproportion and the second selected proportion are selected based on aset of criteria based on data determined from the at least one othersensor;

(d) obtain a second measured yaw rate from the yaw rate sensor; and

(e) determine a corrected yaw rate for the vehicle based on the secondmeasured yaw rate and the yaw rate offset.

The data may include a derivative of longitudinal acceleration for thevehicle and wherein the set of criteria includes whether the derivativeof the longitudinal acceleration for the vehicle is approximately zero.The ratio of the first and second selected proportions may vary betweenabout 1:99 and about 1:9. The at least one sensor may include avehicle-mounted camera and the data may include image data captured bythe vehicle-mounted camera and representative of the environmentexterior of the vehicle. The set of criteria may include the number oflane delimiters detected in the image data.

Optionally, and desirably, the system of the present invention utilizesan image-based sensor or camera and image processing of image datacaptured by the camera. The system and/or camera of the vehicle includesan image processor operable to process image data captured by the cameraor cameras, such as for detecting objects or other vehicles orpedestrians or the like in the field of view of one or more of thecameras. For example, the image processor may comprise an EyeQ2 or EyeQ3image processing chip available from Mobileye Vision Technologies Ltd.of Jerusalem, Israel, and may include object detection software (such asthe types described in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or7,038,577, which are hereby incorporated herein by reference in theirentireties), and may analyze image data to detect vehicles and/or otherobjects. Responsive to such image processing, and when an object orother vehicle is detected, the system may generate an alert to thedriver of the vehicle and/or may generate an overlay at the displayedimage to highlight or enhance display of the detected object or vehicle,in order to enhance the driver's awareness of the detected object orvehicle or hazardous condition during a driving maneuver of the equippedvehicle.

The camera or imager or imaging sensor may comprise any suitable cameraor imager or sensor. Optionally, the camera may comprise a “smartcamera” that includes the imaging sensor array and associated circuitryand image processing circuitry and electrical connectors and the like aspart of a camera module, such as by utilizing aspects of the visionsystems described in PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, which is hereby incorporated herein by reference in itsentirety.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, an array of a plurality of photosensorelements arranged in at least about 640 columns and 480 rows (at leastabout a 640×480 imaging array), with a respective lens focusing imagesonto respective portions of the array. The photosensor array maycomprise a plurality of photosensor elements arranged in a photosensorarray having rows and columns. The logic and control circuit of theimaging sensor may function in any known manner, and the imageprocessing and algorithmic processing may comprise any suitable meansfor processing the images and/or image data. For example, the visionsystem and/or processing and/or camera and/or circuitry may utilizeaspects described in U.S. Pat. Nos. 7,005,974; 5,760,962; 5,877,897;5,796,094; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620;6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109;6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978; 7,859,565;5,550,677; 5,670,935; 6,636,258; 7,145,519; 7,161,616; 7,230,640;7,248,283; 7,295,229; 7,301,466; 7,592,928; 7,881,496; 7,720,580;7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, PCT Application No.PCT/US2010/047256, filed Aug. 31, 2010 and published Mar. 10, 2011 asInternational Publication No. WO 2011/028686 and/or InternationalPublication No. WO 2010/099416, published Sep. 2, 2010, and/or PCTApplication No. PCT/US10/25545, filed Feb. 26, 2010 and published Sep.2, 2010 as International Publication No. WO 2010/099416, and/or PCTApplication No. PCT/US2012/048800, filed Jul. 30, 2012, and/or PCTApplication No. PCT/US2012/048110, filed Jul. 25, 2012, and/or PCTApplication No. PCT/CA2012/000378, filed Apr. 25, 2012, and/or PCTApplication No. PCT/US2012/056014, filed Sep. 19, 2012, and/or PCTApplication No. PCT/US12/57007, filed Sep. 25, 2012, and/or PCTApplication No. PCT/US2012/061548, filed Oct. 24, 2012, and/or PCTApplication No. PCT/US2012/062906, filed Nov. 1, 2012, and/or PCTApplication No. PCT/US2012/063520, filed Nov. 5, 2012, and/or PCTApplication No. PCT/US2012/064980, filed Nov. 14, 2012, and/or PCTApplication No. PCT/US2012/066570, filed Nov. 27, 2012, and/or PCTApplication No. PCT/US2012/066571, filed Nov. 27, 2012, and/or PCTApplication No. PCT/US2012/068331, filed Dec. 7, 2012, and/or PCTApplication No. PCT/US2012/071219, filed Dec. 21, 2012, and/or PCTApplication No. PCT/US2013/022119, filed Jan. 18, 2013, and/or PCTApplication No. PCT/US2013/027342, filed Feb. 22, 2013, and/or U.S.patent applications, Ser. No. 13/681,963, filed Nov. 20, 2012, now U.S.Pat. No. 9,264,673; Ser. No. 13/660,306, filed Oct. 25, 2012, now U.S.Pat. No. 9,146,898; Ser. No. 13/653,577, filed Oct. 17, 2012, now U.S.Pat. No. 9,174,574; and/or Ser. No. 13/534,657, filed Jun. 27, 2012 andpublished Jan. 3, 2013 as U.S. Publication No. US-2013-0002873, and/orU.S. provisional applications, Ser. No. 61/736,104, filed Dec. 12, 2012;Ser. No. 61/736,103, filed Dec. 12, 2012; Ser. No. 61/735,314, filedDec. 10, 2012; Ser. No. 61/734,457, filed Dec. 7, 2012 ; Ser. No.61/733,598, filed Dec. 5, 2012; Ser. No. 61/733,093, filed Dec. 4, 2012;Ser. No. 61/727,912, filed Nov. 19, 2012; Ser. No. 61/727,911, filedNov. 19, 2012; Ser. No. 61/727,910, filed Nov. 19, 2012; Ser. No.61/718,382, filed Oct. 25, 2012; Ser. No. 61/710,924, filed Oct. 8,2012; Ser. No. 61/696,416, filed Sep. 4, 2012; Ser. No. 61/682,995,filed Aug. 14, 2012; Ser. No. 61/682,486, filed Aug. 13, 2012; Ser. No.61/680,883, filed Aug. 8, 2012; Ser. No. 61/676,405, filed Jul. 27,2012; Ser. No. 61/666,146, filed Jun. 29, 2012; Ser. No. 61/648,744,filed May 18, 2012; Ser. No. 61/624,507, filed Apr. 16, 2012; Ser. No.61/616,126, filed Mar. 27, 2012; Ser. No. 61/613,651, filed Mar. 21,2012; and/or Ser. No. 61/607,229, filed Mar. 6, 2012, which are allhereby incorporated herein by reference in their entireties. The systemmay communicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in PCT ApplicationNo. PCT/US10/038477, filed Jun. 14, 2010, and/or U.S. patent applicationSer. No. 13/202,005, filed Aug. 17, 2011, now U.S. Pat. No. 9,126,525,which are hereby incorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,123,168;7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176; 6,313,454 and6,824,281, and/or International Publication No. WO 2010/099416,published Sep. 2, 2010, and/or PCT Application No. PCT/US10/47256, filedAug. 31, 2010 and published Mar. 10, 2011 as International PublicationNo. WO 2011/028686, and/or U.S. patent application Ser. No. 12/508,840,filed Jul. 24, 2009, and published Jan. 28, 2010 as U.S. Pat.Publication No. US 2010-0020170, and/or PCT Application No.PCT/US2012/048110, filed Jul. 25, 2012, and/or U.S. patent applicationSer. No. 13/534,657, filed Jun. 27, 2012 and published Jan. 3, 2013 asU.S. Publication No. US-2013-0002873, which are all hereby incorporatedherein by reference in their entireties. The camera or cameras maycomprise any suitable cameras or imaging sensors or camera modules, andmay utilize aspects of the cameras or sensors described in U.S. patentapplications, Ser. No. 12/091,359, filed Apr. 24, 2008 and publishedOct. 1, 2009 as U.S. Publication No. US-2009-0244361, and/or Ser. No.13/260,400, filed Sep. 26, 2011, now U.S. Pat. No. 8,542,451, and/orU.S. Pat. Nos. 7,965,336 and/or 7,480,149, which are hereby incorporatedherein by reference in their entireties. The imaging array sensor maycomprise any suitable sensor, and may utilize various imaging sensors orimaging array sensors or cameras or the like, such as a CMOS imagingarray sensor, a CCD sensor or other sensors or the like, such as thetypes described in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962;5,715,093; 5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719;6,201,642; 6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435;6,831,261; 6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149;7,038,577; 7,004,606 and/or 7,720,580, and/or U.S. patent applicationSer. No. 10/534,632, filed May 11, 2005, now U.S. Pat. No. 7,965,336;and/or PCT Application No. PCT/US2008/076022, filed Sep. 11, 2008 andpublished Mar. 19, 2009 as International Publication No. WO/2009/036176,and/or PCT Application No. PCT/US2008/078700, filed Oct. 3, 2008 andpublished Apr. 9, 2009 as International Publication No. WO/2009/046268,which are all hereby incorporated herein by reference in theirentireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. pat. applications, Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. patent application Ser. No. 10/538,724, filedJun. 13, 2005 and published Mar. 9, 2006 as U.S. Publication No.US-2006-0050018, which are hereby incorporated herein by reference intheir entireties, a traffic sign recognition system, a system fordetermining a distance to a leading or trailing vehicle or object, suchas a system utilizing the principles disclosed in U.S. Pat. Nos.6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. patent applications, Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct.14, 2009 and published Apr. 22, 2010 as U.S. Publication No.US-2010-0097469, which are hereby incorporated herein by reference intheir entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. patent application Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, which are all hereby incorporatedherein by reference in their entireties. Optionally, the video mirrordisplay screen or device may be operable to display images captured by arearward viewing camera of the vehicle during a reversing maneuver ofthe vehicle (such as responsive to the vehicle gear actuator beingplaced in a reverse gear position or the like) to assist the driver inbacking up the vehicle, and optionally may be operable to display thecompass heading or directional heading character or icon when thevehicle is not undertaking a reversing maneuver, such as when thevehicle is being driven in a forward direction along a road (such as byutilizing aspects of the display system described in PCT Application No.PCT/US2011/056295, filed Oct. 14, 2011 and published Apr. 19, 2012 asInternational Publication No. WO 2012/051500, which is herebyincorporated herein by reference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in PCT Application No. PCT/US10/25545, filed Feb. 26, 2010 andpublished on Sep. 2, 2010 as International Publication No. WO2010/099416, and/or PCT Application No. PCT/US10/47256, filed Aug. 31,2010 and published Mar. 10, 2011 as International Publication No. WO2011/028686, and/or PCT Application No. PCT/US2011/062834, filed Dec. 1,2011 and published Jun. 7, 2012 as International Publication No. WO2012/075250, and/or PCT Application No. PCT/US2012/048993, filed Jul.31, 2012, and/or PCT Application No. PCT/US11/62755, filed Dec. 1, 2011and published Jun. 7, 2012 as International Publication No. WO2012-075250, and/or PCT Application No. PCT/CA2012/000378, filed Apr.25, 2012, and/or PCT Application No. PCT/US2012/066571, filed Nov. 27,2012, and/or PCT Application No. PCT/US2012/068331, filed Dec. 7, 2012,and/or PCT Application No. PCT/US2013/022119, filed Jan. 18, 2013,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011,now U.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. patent applications, Ser. No. 12/091,525,filed Apr. 25, 2008, now U.S. Pat. No. 7,855,755; Ser. No. 11/226,628,filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008; and/or Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare all hereby incorporated herein by reference in their entireties. Thedisplay is viewable through the reflective element when the display isactivated to display information. The display element may be any type ofdisplay element, such as a vacuum fluorescent (VF) display element, alight emitting diode (LED) display element, such as an organic lightemitting diode (OLED) or an inorganic light emitting diode, anelectroluminescent (EL) display element, a liquid crystal display (LCD)element, a video screen display element or backlit thin film transistor(TFT) display element or the like, and may be operable to displayvarious information (as discrete characters, icons or the like, or in amulti-pixel manner) to the driver of the vehicle, such as passenger sideinflatable restraint (PSIR) information, tire pressure status, and/orthe like. The mirror assembly and/or display may utilize aspectsdescribed in U.S. Pat. Nos. 7,184,190; 7,255,451; 7,446,924 and/or7,338,177, which are all hereby incorporated herein by reference intheir entireties. The thicknesses and materials of the coatings on thesubstrates of the reflective element may be selected to provide adesired color or tint to the mirror reflective element, such as a bluecolored reflector, such as is known in the art and such as described inU.S. Pat. Nos. 5,910,854; 6,420,036 and/or 7,274,501, which are herebyincorporated herein by reference in their entireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.patent application Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare hereby incorporated herein by reference in their entireties.

While the foregoing provides certain non-limiting example embodiments,it should be understood that combinations, subsets, and variations ofthe foregoing are contemplated. The monopoly sought is defined by theclaims.

What is claimed is:
 1. A method for vehicular control, said methodcomprising: providing a forward viewing camera at a vehicle so as tohave a field of view forward of the vehicle; providing a yaw rate sensorat the vehicle, the yaw rate sensor operable to sense angular rotationalvelocity of the vehicle about a local vertical axis of the vehicle;providing a longitudinal accelerometer at the vehicle, the longitudinalaccelerometer operable to sense a forward or reverse acceleration of thevehicle; providing a speed sensor at the vehicle, the speed sensoroperable to sense speed of the vehicle; providing a control system atthe vehicle, the control system comprising a processor operable toprocess outputs received from the yaw rate sensor, the longitudinalaccelerometer and the speed sensor; sensing, via the yaw rate sensor,angular rotational velocity while the vehicle is moving, and providingan output of the yaw rate sensor to the control system; sensing, via thelongitudinal accelerometer, forward or reverse acceleration while thevehicle is moving, and providing an output of the longitudinalaccelerometer to the control system; sensing, via the speed sensor,speed of the vehicle while the vehicle is moving, and providing anoutput of the speed sensor to the control system; determining, while thevehicle is moving forward, and via processing by the processor of theoutput provided by the yaw rate sensor, an angular rotational velocityof the vehicle about the local vertical axis of the vehicle;determining, while the vehicle is moving forward and responsive at leastin part to the determined angular rotational velocity, a yaw rate offsetof the yaw rate sensor; determining, while the vehicle is moving forwardand via processing by the processor of the output provided by thelongitudinal accelerometer, a longitudinal acceleration of the vehicle;determining, via the control system, a corrected yaw rate responsive tothe determined yaw rate offset of the yaw rate sensor and the determinedlongitudinal acceleration of the vehicle; determining, via the controlsystem, a projected driving path of the vehicle based at least in parton the determined corrected yaw rate; detecting, at least in part viaprocessing by the processor of image data captured by the camera, anobject present in the field of view of the camera; determining, at leastin part responsive to detecting the object and to the projected drivingpath, a hazard condition ahead of the vehicle in the projected drivingpath; and automatically applying the brakes of the vehicle responsive tothe determined hazard condition.
 2. The method of claim 1, comprisingproviding a steering angle sensor at the vehicle, the steering anglesensor operable to sense a steering angle of the vehicle, anddetermining, while the vehicle is moving and via processing by theprocessor of an output provided by the steering angle sensor to thecontrol system, a steering angle of the vehicle.
 3. The method of claim2, comprising determining, while the vehicle is moving forward andresponsive to the output provided by the speed sensor, a speed of thevehicle, wherein, if the vehicle is determined to be moving at adetermined speed that is below a threshold speed and the steering angleis determined to be less than a threshold level, the determined yaw rateoffset remains constant as the vehicle is moved along the projecteddriving path.
 4. The method of claim 2, wherein, if the vehicle steeringangle is determined to be greater than a threshold level, determiningthe yaw rate offset is based at least in part on the determined steeringangle.
 5. The method of claim 2, wherein, if the vehicle is determinedto be moving at a determined speed that is above a threshold speed andthe steering angle is determined to be greater than a threshold level,determining the yaw rate offset is based at least in part on thedetermined speed and the determined steering angle.
 6. The method ofclaim 1, comprising determining, while the vehicle is moving forward andresponsive to the output provided by the speed sensor, a speed of thevehicle, wherein, if the vehicle is determined to be moving at adetermined speed that is above a threshold speed, determining the yawrate offset is based at least in part on the determined speed.
 7. Themethod of claim 1, comprising determining whether the vehicle is movingin a straight path, wherein determining the yaw rate offset is based atleast in part on whether or not the vehicle is moving in a straightpath.
 8. The method of claim 1, wherein determining the corrected yawrate is based at least in part on determination of lane markers on aroad being traveled by the vehicle.
 9. The method of claim 8, whereindetermining the corrected yaw rate is based at least in part on how manylane markers are determined on the road being traveled by the vehicle.10. The method of claim 1, wherein determining the yaw rate offset isbased at least in part on a first measured yaw rate from the yaw ratesensor, and wherein determining the corrected yaw rate is based at leastin part on a second measured yaw rate from the yaw rate sensor and thedetermined yaw rate offset.
 11. The method of claim 1, whereindetermining the corrected yaw rate comprises using a first proportion ofan output of the yaw rate sensor and a second proportion of a previouslydetermined corrected yaw rate.
 12. The method of claim 11, comprisingselecting the first and second proportions based at least in part ondetection of lane markers on a road being traveled by the vehicle. 13.The method of claim 11, comprising selecting the first proportion andthe second proportion based on a set of criteria based on datadetermined from at least one other sensor of the vehicle.
 14. The methodof claim 13, wherein the at least one sensor comprises said camera. 15.A method for vehicular control, said method comprising: providing aforward viewing camera at a vehicle so as to have a field of viewforward of the vehicle; providing a yaw rate sensor at the vehicle, theyaw rate sensor operable to sense angular rotational velocity of thevehicle about a local vertical axis of the vehicle; providing alongitudinal accelerometer at the vehicle, the longitudinalaccelerometer operable to sense a forward or reverse acceleration of thevehicle; providing a speed sensor at the vehicle, the speed sensoroperable to sense speed of the vehicle; providing a steering anglesensor at the vehicle, the steering angle sensor operable to sense asteering angle of the vehicle; providing a control system at thevehicle, the control system comprising a processor operable to processoutputs received from the yaw rate sensor, the longitudinalaccelerometer and the speed sensor; sensing, via the yaw rate sensor,angular rotational velocity while the vehicle is moving, and providingan output of the yaw rate sensor to the control system; sensing, via thelongitudinal accelerometer, forward or reverse acceleration while thevehicle is moving, and providing an output of the longitudinalaccelerometer to the control system; sensing, via the speed sensor,speed of the vehicle while the vehicle is moving, and providing anoutput of the speed sensor to the control system; sensing, via thesteering angle sensor, the steering angle of the vehicle while thevehicle is moving, and providing an output of the steering angle sensorto the control system; determining, while the vehicle is moving forwardand via processing by the processor of the output provided by the yawrate sensor, an angular rotational velocity of the vehicle about thelocal vertical axis of the vehicle; determining, while the vehicle ismoving and via processing by the processor of the output provided by thesteering angle sensor, a steering angle of the vehicle; determining, viaprocessing by the processor of image data captured by the camera, lanemarkers on a road being traveled by the vehicle; determining, while thevehicle is moving forward and responsive at least in part to thedetermined angular rotational velocity and the determined steering angleof the vehicle, a yaw rate offset of the yaw rate sensor; determining,while the vehicle is moving forward and via processing by the processorof the output provided by the longitudinal accelerometer, a longitudinalacceleration of the vehicle; determining, via the control system, acorrected yaw rate responsive to (i) the determined yaw rate offset ofthe yaw rate sensor, (ii) the determined longitudinal acceleration ofthe vehicle and (iii) the determined lane markers on the road beingtraveled by the vehicle; determining, via the control system, aprojected driving path of the vehicle based at least in part on thedetermined corrected yaw rate; detecting, at least in part viaprocessing by the processor of image data captured by the camera, anobject present in the field of view of the camera; determining, at leastin part responsive to detecting the object and to the projected drivingpath, a hazard condition ahead of the vehicle in the projected drivingpath; and automatically applying the brakes of the vehicle responsive tothe determined hazard condition.
 16. The method of claim 15, whereindetermining the corrected yaw rate is based at least in part on how manylane markers are determined on the road being traveled by the vehicle.17. The method of claim 15, wherein, if the vehicle is determined to bemoving below a threshold speed and the steering angle is determined tobe less than a threshold level, the determined yaw rate offset remainsconstant as the vehicle moves along the road.
 18. A method for vehicularcontrol, said method comprising: providing a forward viewing camera at avehicle so as to have a field of view forward of the vehicle; providinga yaw rate sensor at the vehicle, the yaw rate sensor operable to senseangular rotational velocity of the vehicle about a local vertical axisof the vehicle; providing a longitudinal accelerometer at the vehicle,the longitudinal accelerometer operable to sense a forward or reverseacceleration of the vehicle; providing a speed sensor at the vehicle,the speed sensor operable to sense speed of the vehicle; providing acontrol system at the vehicle, the control system comprising a processoroperable to process outputs received from the yaw rate sensor, thelongitudinal accelerometer and the speed sensor; sensing, via the yawrate sensor, angular rotational velocity while the vehicle is moving,and providing an output of the yaw rate sensor to the control system;sensing, via the longitudinal accelerometer, forward or reverseacceleration while the vehicle is moving, and providing an output of thelongitudinal accelerometer to the control system; sensing, via the speedsensor, speed of the vehicle while the vehicle is moving, and providingan output of the speed sensor to the control system; determining, whilethe vehicle is moving forward and responsive to the output provided bythe speed sensor, a speed of the vehicle; determining, while the vehicleis moving forward and via processing by the processor of the outputprovided by the yaw rate sensor, an angular rotational velocity of thevehicle about the local vertical axis of the vehicle; determining, whilethe vehicle is moving forward and responsive at least in part to thedetermined angular rotational velocity, a yaw rate offset of the yawrate sensor; wherein, if the vehicle is determined to be moving at adetermined speed that is above an upper threshold speed, the yaw rateoffset is determined based at least in part on the determined speed;wherein, if the vehicle is determined to be moving at a determined speedthat is below a lower threshold speed, the yaw rate offset is notchanged from a previously determined yaw rate offset as the vehicle ismoved along a path of travel; determining, while the vehicle is movingforward and via processing by the processor of the output provided bythe longitudinal accelerometer, a longitudinal acceleration of thevehicle; determining, via the control system, a corrected yaw rateresponsive to the determined yaw rate offset of the yaw rate sensor andthe determined longitudinal acceleration of the vehicle; determining,via the control system, a projected driving path of the vehicle based atleast in part on the determined corrected yaw rate; detecting, at leastin part via processing by the processor of image data captured by thecamera, an object present in the field of view of the camera;determining, at least in part responsive to detecting the object and tothe projected driving path, a hazard condition ahead of the vehicle inthe projected driving path; and automatically applying the brakes of thevehicle responsive to the determined hazard condition.
 19. The method ofclaim 18, wherein determining the corrected yaw rate is based at leastin part on determination of lane markers on a road being traveled by thevehicle.
 20. The method of claim 19, wherein determining the correctedyaw rate is based at least in part on how many lane markers aredetermined on the road being traveled by the vehicle.